JPH09150389A - Industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate exchanging work of a reduction gear. SOLUTION: An intermediate member 6, formed with a disk part 61 provided in the central part, stepped part 62 provided outside the disk part 61, flange part 63 provided in the periphery of the stepped part 62 and a through hole 64 provided in the center of the disk part 61, is formed between a reduction mechanism part 22 of a reduction gear 2 and a turn part 3 fixed onto a base 1. A through hole 32 concentric circular to a turn axis S and having an internal diameter larger than an external diameter of a fixed part 21 of the reduction gear 2 is provided in a bottom part 31 of the turn part 3. A disk part 61 of the intermediate member 6 is fixed to an upper surface of the reduction gear mechanism part 22. The stepped part 62 is fitted to the through hole 32, the flange part 63 is fixed to the bottom part 31 of the turn part 3, a lower surface of the turn part 3 is opposed to an upper surface of the base 1 through a space, a drive motor 4 is fixed to the disk part 61 of the intermediate member 6 so as to be concentric to the turn axis S, and an output shaft 41 of the drive motor 4 is connected to the reduction mechanism part 22 through a gear.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot having a swivel unit that swivels on a base.

[0002]

2. Description of the Related Art Conventionally, an industrial robot provided with a revolving unit on which a plurality of arms are mounted is concentric with a rotary shaft S extending vertically on a base 1 as a constituent member, as shown in FIG. Thus, the fixing portion 21 of the speed reducer 2 is fixed. The speed reducing mechanism 22 of the speed reducer 2 includes a fixed portion 21 via a bearing 23.
The bottom 31 of the swivel unit 3 is fixed to the speed reduction mechanism unit 22. A drive motor 4 for rotating the revolving unit 3 concentrically with the revolving shaft S is attached to the bottom 31 of the revolving unit 3, and its output shaft 41 is projected downward from a through hole 32 provided in the bottom 31 to output the output. The small gear 42 is fixed to the shaft 41 and meshes with the input gear 24 of the reduction gear mechanism 22 to drive the reduction gear mechanism 22. As shown in FIG. 3, a first arm 5A is supported on the revolving unit 3 so as to be rotatable about a rotation axis L extending in the horizontal direction.
A second arm 5B is supported so as to be rotatable around a rotation axis U that extends horizontally to the tip side of A, and a rotation axis that extends to the tip side of the second arm 5B in the longitudinal direction of the second arm 5B. The third arm 5C is supported so that it can rotate around R,
The wrist portion 5D is supported on the distal end side of the arm 5C so as to be rotatable about a rotation axis B orthogonal to the rotation axis R, and the wrist portion 5D
Is equipped with an end effector 5E for driving a tool or the like.

[0003]

However, in the above-mentioned prior art, when the speed reducer 2 is to be replaced for repair or specification change, the swivel portion 3 must be removed. However, the swivel portion 3 has an arm or the like. Since a structure with a large weight is placed, equipment such as a crane is required, a large work space is required, and it is necessary to move the entire robot, which is a lot of work. There was a problem. It is an object of the present invention to provide an industrial robot that enables replacement work of a reduction gear without removing structures such as a swivel part and an arm.

[0004]

In order to solve the above problems, the present invention is directed to a base having a mounting seat on the upper surface of a central portion thereof and a fixing portion so as to be concentric with a rotating shaft extending perpendicularly to the mounting seat. And a drive motor for driving the speed reducer, and a speed reducer provided with a speed reducer section supported by a bearing on the fixed part, and the speed reducer can rotate through the speed reducer section of the speed reducer. An industrial robot having a revolving part on which an arm is mounted and supported in a manner such that a disc part provided in the center between the speed reduction mechanism part and the revolving part, and an outer side of the disc part. An intermediate member having a stepped portion provided in the stepped portion, a flange portion provided on the outer periphery of the stepped portion, and a through hole provided at the center of the disc portion, and the rotation portion is provided at the bottom of the revolving portion. Has an inner diameter that is concentric with the shaft and that is larger than the outer diameter of the fixed part of the speed reducer. A through hole is provided, the disc portion of the intermediate member is fixed to the upper surface of the speed reduction mechanism portion, the stepped portion is fitted into the through hole, and the flange portion is fixed to the bottom portion of the swivel portion. The lower surface of the revolving unit is opposed to the upper surface of the base through a gap, the drive motor is fixed to the disc portion of the intermediate member so as to be concentric with the rotating shaft, and the output shaft of the drive motor is It is connected to the reduction mechanism through a gear.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below with reference to embodiments shown in the drawings. FIG. 1 is a side sectional view of an essential part showing an embodiment of the present invention. In the figure, reference numeral 1 is a base, and a mounting seat 11 is provided on the upper surface of the central portion. Reference numeral 12 is an outer frame formed around the base 1. Reference numeral 2 denotes a speed reducer fixed on the base 1 so as to be concentric with a vertically extending rotation axis S.
The fixing portion 21 is fixed to the mounting seat 11 with the bolt 7A. Reference numeral 22 denotes a reduction mechanism portion of the reduction gear 2, which is supported by the fixed portion 21 via a bearing 23. Reference numeral 3 denotes a swivel portion for supporting an arm or the like, 31 denotes a bottom portion which is concentric with the rotating shaft S and has a through hole 32 having an inner diameter larger than the outer diameter of the fixed portion 21 of the reduction gear 2. Reference numeral 6 denotes an intermediate member, which is a disc portion 61 provided at the center, a stepped portion 62 provided outside thereof, and a stepped portion 6
It is formed of a flange portion 63 provided on the outer periphery of the second plate 2 and a through hole 64 provided at the center of the disc portion 61. Disk part 61
Is fixed to the upper surface of the speed reduction mechanism portion 22 with bolts 7B, and the stepped portion 62 is fitted into the through hole 32, and the flange portion 6
3 is fixed to the bottom portion 31 of the swivel portion 3 by a bolt 7C, and the lower surface of the swivel portion 3 faces the upper surface of the outer frame 12 of the base 1 with a gap. Reference numeral 4 denotes a drive motor for rotating the revolving unit 3, which is fixed to the disc portion 61 of the intermediate member 6 by a bolt 7D so as to be concentric with the revolving shaft S. Reference numeral 41 denotes an output shaft of the drive motor 4, which has a through hole 6 formed in the intermediate member 6.
4 is projected downward. Reference numeral 42 is a small gear fixed to the output shaft 41, and 24 is an input gear of the reduction gear mechanism 22, which meshes with the small gear 42 to drive the reduction gear mechanism 22. In this way, a slight gap is maintained between the lower surface of the revolving unit 3 and the upper surface of the base 1, and the reduction mechanism unit 22 of the reduction gear 2, the intermediate member 6, the revolving unit 3, and the drive motor 4 are arranged. It is supported so as to be rotatable by a bearing 23.

When replacing the speed reducer 2, first, the bolt 7C fixing the turning portion 3 and the intermediate member 6 is gently removed. As a result, the swivel unit 3 is lowered along with the arm or the like by the length of the gap and is gently placed on the upper surface of the base 1. next,
The bolt 7B fixing the speed reducer 2 and the intermediate member 6 is removed, the intermediate member 6 is removed from the speed reducer 2 together with the drive motor 4, the through hole 32 is passed through, and the intermediate member 6 is taken out to the outside of the swivel unit 3. Next, the bolt 7A fixing the speed reducer 2 and the base 1 is removed, and the speed reducer 2 is taken out through the through hole 32 to the outside of the swivel unit 3. Therefore, the revolving part 3 on which a heavy structure such as an arm is placed is mounted on the base 1 by a crane or the like.
The speed reducer 2 can be easily taken out without removing it from the. When the speed reducer 2 is assembled to the base 1, the work may be performed in the reverse order of the above procedure.

[0007]

As described above, according to the present invention, a through hole having an inner diameter larger than the outer diameter of the fixed portion of the reduction gear is provided at the bottom of the rotation portion, and the reduction gear and the rotation portion are provided in the through hole. By coupling with the intermediate member to be fitted and removing the intermediate member from the swivel portion, the reduction gear can be taken out from the through hole, so that a heavy-weight swivel portion or a structure such as an arm is not removed, There is an effect that it is possible to provide an industrial robot capable of replacing the speed reducer.

[Brief description of the drawings]

FIG. 1 is a side sectional view showing an embodiment of the present invention.

FIG. 2 is a side sectional view showing a conventional example.

FIG. 3 is a side view of the industrial robot.

[Explanation of symbols]

1: Base, 11: Mounting seat, 12: Outer frame, 2: Reducer, 21: Fixed part, 22: Reduction mechanism part, 23: Bearing, 2
4: input gear, 3: turning part, 31: bottom part, 32: through hole, 4: drive motor, 41: output shaft, 42: pinion gear,
6: Intermediate member, 61: Disc portion, 62: Stepped portion, 63: Flange portion, 7A, 7B, 7C, 7D: Bolt

Claims (1)

[Claims] 1. A base provided with a mounting seat on the upper surface of a central part, and a fixing part fixed so as to be concentric with a rotating shaft extending perpendicularly to the mounting seat, and supported by the fixing part via a bearing. And a drive motor for driving the speed reducer, and a swivel unit supported so as to swivel through the speed reducer unit of the speed reducer and having an arm mounted thereon. In an industrial robot provided with, between the deceleration mechanism section and the swivel section, a disc portion provided in the center, a step portion provided outside the disc portion, and an outer periphery of the step portion. An intermediate member having a provided flange portion and a through hole provided at the center of the disc portion is provided, and the bottom portion of the revolving portion is concentric with the rotating shaft and is outside the fixed portion of the speed reducer. A through hole having an inner diameter larger than the diameter is provided, and the disc portion of the intermediate member is provided with the reduction mechanism. Fixed to the upper surface of the section, the stepped section is fitted into the through hole, the flange section is fixed to the bottom section of the swivel section, and the lower surface of the swivel section is opposed to the upper surface of the base through a gap. An industry characterized in that the drive motor is fixed to a disc portion of the intermediate member so as to be concentric with the rotating shaft, and an output shaft of the drive motor is coupled to the reduction mechanism portion via a gear. Robot.